CN108135665B

CN108135665B - Reconfigurable end effector architecture

Info

Publication number: CN108135665B
Application number: CN201680058617.6A
Authority: CN
Inventors: D·W·鲁滨逊; G·F·布里森; A·查哥哈杰帝; P·亨维; D·F·小威尔逊
Original assignee: Intuitive Surgical Operations Inc
Current assignee: Intuitive Surgical Operations Inc
Priority date: 2015-11-11
Filing date: 2016-11-04
Publication date: 2021-02-05
Anticipated expiration: 2036-11-04
Also published as: EP3373838A4; EP3373838A1; WO2017083201A1; KR20180067521A; EP3373838B1; KR102597849B1; JP2018538036A; US10799306B2; JP6981977B2; US20180325611A1; CN108135665A

Abstract

Systems and related methods control articulation of an end effector relative to a patient. A method of controlling articulation of an end effector relative to a patient, comprising: a command to close or open a telesurgically operated end effector comprising a first jaw member, a second jaw member, a wrist, and an instrument shaft is received by a controller. In response to the command, the controller controls articulation of the end effector to simultaneously reorient the first jaw member relative to the second jaw member and articulate the end effector such that the position and/or orientation of the reference aspect of the end effector relative to the patient is substantially maintained.

Description

Reconfigurable end effector architecture

Cross Reference to Related Applications

This application claims the benefit of U.S. provisional application No. 62/254,254 filed 11/2015; the entire contents of which are incorporated herein by reference in their entirety for all purposes.

The present application relates to U.S. patent No. 8,852,174 entitled "Surgical tool with a two degree of freedom wrist" filed on 12.11.2010 and U.S. publication No. 20140183244 entitled "Surgical staple cartridge with increased knife gap" filed on 31.2013, 12.12.13, which are incorporated herein by reference.

Background

Minimally invasive surgical techniques aim to reduce the amount of external tissue that is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, reducing patient discomfort, and reducing harmful side effects. Thus, for standard surgery using minimally invasive surgical techniques, the average number of hospitalizations can be significantly reduced. Moreover, with minimally invasive surgery, patient recovery time, patient discomfort, surgical side effects, and off-work time may also be reduced.

A common form of minimally invasive surgery is endoscopy, whereas a common form of endoscopy is laparoscopy, which is minimally invasive surgery and minimally invasive surgery inside the abdominal cavity. In standard laparoscopic surgery, a gas is insufflated into the abdomen of the patient and a cannula sleeve is passed through a small (about 1/2 inch or less) incision to provide access to laparoscopic instruments.

Laparoscopic surgical instruments typically include an endoscope (e.g., a laparoscope) for viewing the surgical field and tools for working at the surgical site. The working tools are generally similar to those used in conventional (open cavity) surgery, except that the working end or end effector of each tool is separated from its handle by a telescoping tube (also known as, for example, an instrument shaft or main shaft). The end effector may include, for example, a clamp, grasper, scissors, stapler, cauterization tool, linear cutter, or needle puller.

To perform a surgical procedure, the surgeon delivers working tools to the internal surgical site through the cannula sleeves and manipulates them from outside the abdomen. The surgeon views the procedure from a monitor that displays an image of the surgical site taken from the endoscope. Similar endoscopic techniques are used, for example, for arthroscopy, retroperitoneal endoscopy, pelvic endoscopy, nephroscopy, cystoscopy, sinoscopy, hysteroscopy, urethroscopy, and the like.

Minimally invasive telesurgical robotic systems are being developed to increase the surgeon's dexterity when acting on internal surgical sites, as well as to allow the surgeon to perform surgery on a patient from a distance (outside of a sterile field). In telesurgical systems, the surgeon typically has an image of the surgical site at the console. When viewing a three-dimensional image of the surgical site on a suitable viewer or display, the surgeon performs the surgical procedure on the patient by manipulating the master input or control devices of the console. Each of the master input devices controls the motion of a servo-mechanically actuated/articulated surgical instrument. Telesurgical systems may provide mechanical actuation and control of various surgical instruments or tools during a surgical procedure. Many surgical tools have jaws or other articulatable end effectors that perform various functions for the surgeon, such as holding or driving a needle, grasping a blood vessel, dissecting tissue, etc., in response to manipulation of a master input device. Tools with a distal wrist joint allow the surgeon to position the tool within the internal surgical site, thereby greatly enhancing the surgeon's freedom to interact with (and treat) tissue in real time.

Typically, there is only a modest amount of space around the internal surgical site, limiting the range of movement of the surgical tool without undesirable contact with surrounding patient tissue. Such movement limitations may inhibit the surgeon's ability to perform desired surgical tasks. Accordingly, it is desirable to have methods and systems for performing surgical tasks in spatially constrained environments with enhanced features.

Disclosure of Invention

Systems and methods for controlling movement of an end effector provide for automatic combination of multiple actuation inputs to produce a resulting movement of the end effector that is more suitable for confined spaces than if the actuation inputs were used separately. For example, for a surgical instrument including an end effector that includes jaw members and is mounted to an instrument shaft via a wrist, the wrist and one or more jaw members may be actuated simultaneously to reduce movement of a reference aspect of the end effector (e.g., a designated jaw member) in space and thereby inhibit undesired contact with surrounding patient tissue. Thus, an automated method is provided for a surgeon to articulate an end effector in a manner compatible with a limited workspace.

Accordingly, in one aspect, a method of controlling movement of an end effector is provided. The method includes receiving, by a controller, a command to close or open an end effector. The end effector includes a first jaw member connected to a second jaw member by a hinge. The end effector is coupled to the instrument shaft by a wrist configured to orient the end effector relative to the instrument shaft. The method includes controlling, by the controller in response to a command, movement of the end effector to simultaneously (a) move the first jaw member relative to the second jaw member, and (b) actuate the wrist to orient the end effector relative to the instrument shaft, wherein at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

In many embodiments, wherein the wrist can be reconfigured by an amount necessary to sufficiently articulate the end effector relative to the instrument, the first jaw member can remain substantially stationary during movement of the end effector. For example, the wrist may be actuated to move the second jaw toward the first jaw member (which may remain stationary) during closing or opening of the end effector. During closure of the end effector, the first jaw member may close against the second jaw member.

The first and second jaw members may be configured to open and close in any suitable manner. For example, the first jaw member may be configured to pivot at the hinge to close against the second jaw member, and the second jaw member may be configured not to pivot at the hinge. As another example, both the first and second jaw members may be configured to pivot at a hinge relative to an end effector base member coupled to the wrist.

The instrument shaft may articulate as part of the movement of the end effector. For example, movement of the end effector may include articulating the instrument shaft to move the hinge.

The current configuration of the wrist and/or instrument shaft may be evaluated relative to the corresponding movement limits to determine whether sufficient reconfiguration of the wrist and/or instrument shaft is possible to achieve the desired movement of the end effector. For example, the method may further include determining, by the controller, whether a reconfiguration of the wrist and/or instrument shaft that holds the reference aspect of the end effector stationary during closing or opening of the end effector exceeds a limit of movement of the wrist and/or instrument shaft. A controller may determine, based on motion of an end effector, a reconfiguration of the wrist to reorient the end effector relative to the instrument axis to keep a reference aspect of the end effector stationary during movement of the end effector beyond a limit of movement of the wrist and/or instrument axis. The method may further include using the opening and/or closing end effector without reconfiguring the wrist and/or articulating instrument shaft. For example, the method may further comprise: (a) receiving, by the controller, a second command to close or open the end effector; and (b) controlling, by the controller, movement of the end effector to reorient the first jaw member relative to the second jaw member in response to the second command without simultaneously articulating the end effector to hold a reference aspect of the end effector stationary.

The method may include a user specifying a reference aspect of the end effector. For example, the method may include receiving, by the controller, an input specifying a reference aspect of the end effector.

Any suitable wrist may be used. For example, the wrist may be reconfigurable to reorient the end effector relative to the instrument shaft about a yaw axis and a pitch axis perpendicular to the yaw axis.

In another aspect, a robotic surgical system is provided. A robotic surgical system includes an end effector, a wrist, an instrument shaft, and a controller. The end effector includes a first jaw member, a second jaw member, and a hinge by which the first jaw member is pivotally coupled to the second jaw member. The end effector is coupled to the wrist. The wrist is reconfigurable to move the end effector relative to the instrument shaft. The controller includes at least one processor and a memory device storing instructions executable by the at least one processor to cause the at least one processor to receive commands to move the first jaw member relative to the second jaw member and to control movement of the end effector in response to the commands to simultaneously (a) move the first jaw member relative to the second jaw member and (b) actuate the wrist to orient the end effector relative to the instrument axis, wherein at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space. The robotic surgical system may be configured to perform any of the acts of the methods of controlling movement of an end effector described herein.

For a fuller understanding of the nature and advantages of the present invention, reference should be made to the following detailed description and accompanying drawings. Other aspects, objects, and advantages of the invention will be apparent from the drawings and detailed description that follow.

Drawings

FIG. 1 is a plan view of a minimally invasive teleoperated surgical system being used to perform surgery, in accordance with many embodiments.

FIG. 2 is a perspective view of a surgeon console for a teleoperated surgical system, according to many embodiments.

FIG. 3 is a perspective view of a teleoperated surgical system electronics cart, in accordance with many embodiments.

FIG. 4 is a simplified schematic diagram of a teleoperated surgical system according to many embodiments.

Fig. 5a is a front view of a patient side cart of a teleoperated surgical system according to many embodiments.

Fig. 5b is a front view of the surgical tool.

Fig. 6 is a perspective view of a two degree-of-freedom wrist coupling an end effector body with an instrument shaft, in accordance with many embodiments.

Fig. 7 is a perspective view of the two degree-of-freedom wrist of fig. 6, fig. 7 illustrating rotational degrees of freedom between an intermediate member of the wrist and a support member of the wrist and between the intermediate member and an end effector body, in accordance with many embodiments.

Fig. 8 is a simplified schematic diagram of a surgical assembly according to many embodiments.

Fig. 9-13 are simplified schematic diagrams of surgical assemblies according to various modes of operation, according to various embodiments.

Fig. 14 is a simplified flow diagram of a method of operating an end effector, according to many embodiments.

Detailed Description

In the following description, various embodiments of the present invention will be described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the embodiments. However, it will also be apparent to one skilled in the art that the present invention may be practiced without these specific details. In addition, well-known features may be omitted or simplified in order not to obscure the embodiments to be described.

Fig. 1 is a plan view illustration of a teleoperated surgical system 10 that is typically used to perform minimally invasive diagnostic or surgical procedures on a patient 12 lying on an operating table 14. The system can include a surgeon's console 16 for use by a surgeon 18 during surgery. One or more assistants 20 may also participate in the procedure. The teleoperated surgical system 10 can further include a patient side cart 22 and an electronic cart 24. While the surgeon 18 views the surgical site through the console 16, the patient side cart 22 can manipulate at least one removable coupled tool assembly 26 (hereinafter referred to simply as a "tool") through a minimally invasive incision in the patient 12. Images of the surgical site may be obtained by an endoscope 28, such as a stereoscopic endoscope, which can be manipulated by the patient side cart 22 to orient the endoscope 28. The electronics cart 24 can be used to process images of the surgical site for subsequent display to the surgeon 18 via the surgeon's console 16. The number of surgical tools 26 used at one time generally depends on the diagnostic or surgical procedure and the space constraints within the operating room, among other factors. If one or more of the tools 26 used during the procedure must be changed, the assistant 20 may remove the tool 26 from the patient side cart 22 and replace it with another tool 26 from the tray 30 in the operating room.

Fig. 2 is a perspective view of the surgeon's console 16. The surgeon's console 16 includes a left eye display 32 and a right eye display 34 for presenting the surgeon 18 with a coordinated perspective view of the surgical site enabling depth perception. The console 16 further includes one or more input control devices 36, the input control devices 36 in turn causing the patient side cart 22 (shown in fig. 1) to maneuver one or more tools. The input control device 36 will provide the same degrees of freedom as its associated tool 26 (shown in fig. 1) to provide the surgeon with telepresence or the perception that the input control device 36 is integral with the tool 26 so that the surgeon has a strong sense of directly controlling the tool 26. To this end, position, force and tactile feedback sensors (not shown) may be used to transmit position, force and tactile sensations from the tool 26 back into the surgeon's hand through the input control device 36.

The surgeon's console 16 is typically located in the same room as the patient so that the surgeon can directly monitor the surgical procedure, if necessary, the surgeon can be physically present and speak directly to the assistant rather than via telephone or other communication medium. However, the surgeon can be in a different room, completely different building, or other remote location than the patient, allowing for remote surgical procedures (i.e., operating from outside the sterile field).

Fig. 3 is a perspective view of the electronics cart 24. The electronics cart 24 can be coupled with the endoscope 28, and can include a processor for processing captured images for subsequent display to, for example, a surgeon on the surgeon's console or on any other suitable display located locally and/or remotely. For example, where a stereoscopic endoscope is used, the electronic cart 24 can process the captured images to present a coordinated stereoscopic image of the surgical site to the surgeon. Such coordination can include alignment between the opposing images, and can include adjusting a stereoscopic working distance of the stereoscopic endoscope. As another example, image processing can include using predetermined camera correction parameters to compensate for imaging errors of the image capture device, such as optical aberrations.

Fig. 4 diagrammatically shows a teleoperated surgical system 50 (such as teleoperated surgical system 10 in fig. 1). As discussed above, a surgeon's console 52 (such as surgeon's console 16 in fig. 1) can be used by the surgeon to control a patient side cart 54 (such as patient side cart 22 in fig. 1) during a minimally invasive surgical procedure. The patient side cart 54 can capture images of the surgical procedure site using an imaging device, such as a stereoscopic endoscope, and output the captured images to an electronic cart 56 (such as electronic cart 24 in fig. 1). As discussed above, the electronic cart 56 can process the captured images in various ways prior to any subsequent display. For example, the electronic cart 56 can overlay the captured images with a virtual control interface before displaying the combined images to the surgeon via the surgeon's console 52. The patient side cart 54 can output the captured images for processing outside the electronic cart 56. For example, the patient side cart 54 can output captured images to the processor 58, and the processor 58 can be used to process the captured images. The images can also be processed by a combination of the electronic cart 56 and the processor 58, which can be coupled together to process the captured images collectively, sequentially, and/or in combination. One or more independent displays 60 can also be coupled with the processor 58 and/or the electronics cart 56 for locally and/or remotely displaying images, such as images of a surgical procedure site, or any other relevant images.

Fig. 5A and 5B show patient side cart 22 and surgical tool 62, respectively. Surgical tool 62 is an example of surgical tool 26. The patient side cart 22 is shown for handling three surgical tools 26 and an imaging device 28, such as a stereoscopic endoscope for capturing images of the surgical procedure site. A mechanism having several joints provides steering. The imaging device 28 and the surgical tool 26 can be positioned and manipulated through an incision in a patient such that the kinematic remote center is maintained at the incision, thereby minimizing the size of the incision. When the distal end of the surgical tool 26 is positioned within the field of view of the imaging device 28, the image of the surgical site can include an image of the distal end of the surgical tool 26.

Fig. 6 illustrates a perspective view of two-degree-of-freedom wrist 70 coupling end effector body 72 and instrument shaft 74 in accordance with many embodiments. Wrist 70 includes a support member 76, a first hinge point 78, an intermediate member 80, a second hinge point 82, and a third hinge point 84. The support member 76 is fixedly mounted to the instrument shaft 74 by four attachment components 86 (e.g., mechanical fasteners) so as to be positioned within the bore of the instrument shaft 74 as shown. The intermediate component 80 is pivotally coupled to the support member 76 for rotation about a first axis 88 through a centrally located first hinge point 78. End effector body 72 is pivotally coupled to intermediate member 80 for rotation about second axis 90 by a second hinge point 82 at the periphery and a third hinge point 84 at the periphery. The second hinge point 82 and the third hinge point 84 are coaxial and aligned with the second axis 90. The second axis 90 pivots with the intermediate member about the first axis 88.

The first axis 88 and the second axis 90 can be positioned to provide desired motion and/or spatial characteristics to a compact two degree-of-freedom wrist. For example, the first axis 88 and the second axis 90 can be coplanar and thus provide a ball joint-like motion to the compact wrist member. In many embodiments, the first axis 88 and the second axis 90 are separated by a desired distance along the elongate direction of the instrument shaft 74. This separation can be used to approximate and/or match the motion of the wrist mechanism and the motion of the actuation system components used to orient the end effector body 72 relative to the instrument shaft 74 with a wrist in two degrees of freedom. In many embodiments, first axis 88 and second axis 90 are separated by a desired distance along the elongate direction of instrument shaft 74 to provide a desired combination of compactness and motion to the two degree-of-freedom wrist that approximately matches the motion of the actuation system components used to orient end effector body 72 relative to instrument shaft 74. If a separation of 4mm between the first axis 88 and the second axis 90 would match the motion of the actuation system orientation assembly used, a smaller separation (e.g., 2mm) of the two degree-of-freedom wrist configuration can be provided to provide a more compact wrist. In many embodiments, this separation distance tradeoff can be used without causing any significant detrimental operating features by the imprecise matching of the used actuation system orientation assembly motions. The first axis 88 and the second axis 90 can be oriented to provide desired spatial characteristics to a compact two degree-of-freedom wrist. For example, the first axis 88 and the second axis 90 can be separated, thereby providing additional space for the actuation system assembly and associated attachment components.

The support frame 76 provides a transition fit between the instrument shaft 74 and the first hinge point 78. The support member 76 includes a rectangular main portion 92 and a cantilevered distal end portion 100. The rectangular main portion 92 has a thickness less than the inside diameter of the instrument shaft bore, which provides/leaves two adjacent areas of the bore for routing articulation and/or actuation assemblies (not shown). The support member main portion 92 includes two internal channels 94 that can be used to guide end effector control cables routed within the instrument shaft bore. The intermediate channel 94 is routed between the proximal end 96 of the main portion 92 and the distal end 98 of the main portion 92 and is generally aligned with the elongate direction of the instrument shaft 74. As will be discussed further below, in many embodiments, the internal channel 94 is configured to work in conjunction with the indexing guide surface of the intermediate member to dampen control cable tension variations during pivoting about the first and second axes by maintaining the control cable path length constant. The cantilevered distal section 100 has an attachment lug that receives the single pivot of the first hinge point 78. The use of a single pivot is merely illustrative and other pivot joint assemblies can be used in place of the first hinge point 78, such as two pivot pin members aligned on the same axis can be used. Support member 76 can be configured so as to place first hinge point 78 (and thus first axis 88) in a desired position relative to instrument shaft 74 and end effector body 72, e.g., so as to provide clearance between end effector body 72 and instrument shaft 74 as needed to reorient end effector 72 relative to instrument shaft 74 to a desired extent.

The intermediate member 80 provides a transition fit between the first hinge point 78, the second hinge point 82, and the third hinge point 84. The intermediate member 80 includes an elongated rectangular main portion having a thickness less than the inside diameter of the instrument shaft bore (e.g., similar to the thickness of the main portion 92), which provides two adjacent areas of the bore for routing articulation and/or actuation assemblies (not shown). The intermediate member 80 includes a central slot 102 configured to receive an attachment lug of the support member distal portion 100. The central slot 102 is configured to accommodate the attachment lugs of the distal portion 100 throughout a series of rotations of the intermediate member 80 about the first axis 88. The central slot 102 can also be configured to accommodate end effector control cables (not shown) routed through the support member internal passage 94. The central slot 102 can also include a surface configured to guide an end effector control cable. As will be discussed further below, in many embodiments, the central slot cable guide surface is configured to inhibit control cable tension variations during pivoting about the first and second axes by substantially maintaining the control cable path length constant. In many embodiments, the central slotted cable guide surface works in conjunction with the internal channel 94 to maintain the control cable path length constant during pivoting about the first and second axes. The central slot 102 also provides an opposing attachment flange that receives the single pivot of the first hinge point 78. The second hinge point 82 comprises a pivot shaft cantilevered from one end of the intermediate member 80. The third hinge point 84 comprises a pivot depending from an opposite second end of the intermediate member 80. The use of a cantilever pivot is merely exemplary and other suitable pivot joints can be used. In many embodiments, the location and orientation of the second and third hinge points 82, 84 (and thus the location and orientation of the second axis 90) are selected to provide a desired location and orientation of the second axis 90 relative to the first axis 88. For example, in some embodiments, the first and second axes are not coplanar. In some embodiments, the first and second axes are coplanar. In some embodiments, the position and/or orientation of second axis 90 relative to first axis 88 is selected so as to provide the desired motion of the end effector body 72 motion relative to instrument shaft 74.

Fig. 7 illustrates a perspective view of two-degree-of-freedom wrist 70 of fig. 6 showing rotational freedom between intermediate member 80 and support member 76 about first axis 88 and rotational freedom between end effector body (not shown) and intermediate member 80 about second axis 90, in accordance with many embodiments. A support member 76 is mounted to the instrument shaft 74 so as to position a first hinge point 78 at a desired location away from the end of the instrument shaft 74 to provide clearance between the end effector body and the instrument shaft to provide room for movement of the end effector. Intermediate member central slot 102 opens to the side of intermediate member 80 adjacent the end effector body to accommodate/accommodate routing of end effector control cables (not shown). From the viewing orientation of fig. 7, one interior channel 94 of the support member 76 is visible, and the other interior channel 94 is not visible. In many embodiments, the control cables are routed through each of two internal channels 94. Each of these two control cables is further routed through an intermediate member central slot 102, one on each side of the first axis 88.

Fig. 8 shows a simplified schematic diagram of a tool assembly 104 having a two degree-of-freedom wrist 70 in accordance with many embodiments. Tool assembly 104 includes a proximal actuation assembly 106, a spindle 108, an articulated end effector base of end effector 110, and wrist 70 in two degrees of freedom. In many embodiments, proximal actuation assembly 106 is operably coupled to an end effector base to selectively reorient the end effector base relative to main shaft 108 in two dimensions, and operably coupled to end effector 110 to articulate one or more end effector components relative to the end effector base. Multiple actuation assemblies can be used to couple actuation assembly 106 and end effector 110, such as control cables, cable/hypotube combinations, drive shafts, pull rods, and push rods. In many embodiments, the actuation assembly is routed between actuation assembly 106 and end effector 110 through a bore of spindle 108. Details of such a connection may be found in the previously incorporated U.S. publication No. US 20140183244.

The tool assembly 104 can be configured for use in many applications, such as a handheld device having manual and/or automatic actuation for use in the proximal actuation mechanism 106. Likewise, the tool assembly 104 can have applications other than minimally invasive robotic surgery, such as non-robotic minimally invasive surgery, non-minimally invasive robotic surgery, non-robotic non-minimally invasive surgery, and other applications where the use of a two degree-of-freedom wrist would be beneficial. Wrist 70 may be coupled to various end effectors, including but not limited to surgical stapling devices, such as the devices disclosed in previously incorporated U.S. publication No. US 20140183244.

The tool assembly 104 is electronically coupled to the control system 111, and the control system 111 may include at least one processor for controlling the tool assembly and a memory for storing non-transitory instructions executable by the at least one processor to perform the method acts described herein. The control system 111 may be located in any suitable location, such as on any portion of the tool assembly, or the control system 111 may be part of a subsystem of the patient side cart 22/54 or surgeon console 16. Generally, the control system 111 is configured to execute instructions for performing the methods disclosed herein.

Fig. 9 is a simplified view of the tool assembly 104. End effector 110 includes an upper jaw portion 112 connected to a lower jaw portion 114 by a hinge 116. The upper jaw 112 may be opened and closed relative to the lower jaw portion 114 by rotation of the upper jaw 112 at hinge 116. In this embodiment, the lower jaw portion 114 cannot actuate at the hinge 116 because the lower jaw portion 114 carries the hinge. However, in other embodiments, both jaws may be actuated at hinge 116. The lower jaw portion 114 includes one or more mechanisms for actuating the upper jaw portion 112 at hinge 116. Details of such a mechanism may be found in the previously incorporated U.S. publication No. US 20140183244. Hinge 116 is spatially separated from wrist 70. Thus, the lower jaw portion 114 may pitch and yaw at the wrist 70 while carrying the upper jaw portion 112.

FIG. 10 illustrates a first mode of operation of the tool assembly 104 for actuating the upper jaw portion 112 to the lower jaw portion 114. 3 in 3 operation 3, 3 the 3 upper 3 jaw 3 112 3 on 3 axis 3 A 3- 3 A 3 is 3 moved 3 relatively 3 toward 3 the 3 lower 3 jaw 3 114 3 on 3 axis 3 B 3- 3 B 3. 3 For simplicity, the axis C-C of the spindle is shown collinear with the axis B-B, however, this is not required. Other operations of tool assembly 104 may occur during this period, such as rotation of shaft 108 and movement of lower jaw 114 at wrist 70, however, in general, axis B-B may remain stationary in space for more critical surgical operations of end effector 110.

FIG. 11 illustrates a second mode of operation of the tool assembly 104 for actuating the upper jaw portion 112 to the lower jaw portion 114. 3 in 3 some 3 cases 3, 3 the 3 surgeon 3 may 3 desire 3 that 3 the 3 axis 3 a 3- 3 a 3 of 3 the 3 upper 3 jaw 3 portion 3 112 3 remain 3 relatively 3 stationary 3 with 3 respect 3 to 3 the 3 patient 3 with 3 respect 3 to 3 the 3 field 3 of 3 view 3 of 3 the 3 camera 3, 3 while 3 the 3 upper 3 jaw 3 portion 3 112 3 is 3 actuated 3 at 3 hinge 3 116 3 to 3 close 3 against 3 lower 3 jaw 3 portion 3 114 3. 3 3 thus 3, 3 in 3 the 3 second 3 mode 3 of 3 operation 3, 3 when 3 the 3 upper 3 jaw 3 portion 3 112 3 is 3 actuated 3 toward 3 the 3 lower 3 jaw 3 portion 3 114 3, 3 the 3 lower 3 jaw 3 portion 3 114 3 may 3 be 3 reoriented 3 and 3 / 3 or 3 repositioned 3 ( 3 e.g. 3, 3 by 3 articulation 3 of 3 the 3 wrist 3 70 3) 3 to 3 provide 3 a 3 stationary 3 positioning 3 of 3 the 3 axis 3 a 3- 3 a 3 in 3 space 3. 3 Actuation of the lower jaw portion 114 may be achieved via articulation of the wrist 70 and/or instrument shaft 108 such that the upper jaw portion 112 remains stationary in space while the lower jaw portion 114 is reoriented relative to the upper jaw portion 112.

3 in 3 the 3 illustrated 3 embodiment 3, 3 due 3 to 3 the 3 spatial 3 separation 3 between 3 wrist 3 70 3 and 3 hinge 3 116 3, 3 the 3 position 3 of 3 upper 3 jaw 3 portion 3 112 3 and 3 axis 3 A 3- 3 A 3 in 3 space 3 may 3 not 3 always 3 be 3 precisely 3 maintained 3, 3 but 3 can 3 remain 3 substantially 3 sufficient 3 for 3 the 3 surgeon 3. 3 In other words, the position of the upper jaw portion 112 in space may vary slightly, but may vary to a significantly lesser extent than the lower jaw portion 114 moves in space. This may be due to kinematic limitations of the side cart 22 or, in some cases, due to physical obstructions (e.g., abdominal walls) that prevent desired manipulation due to potential collisions with the side cart 22 and/or the tool assembly 104. 3 however 3, 3 in 3 some 3 cases 3, 3 movement 3 of 3 shaft 3 108 3 in 3 space 3 may 3 be 3 performed 3 to 3 move 3 the 3 position 3 of 3 wrist 3 70 3 while 3 actuation 3 of 3 the 3 jaw 3 portions 3 occurs 3 to 3 help 3 maintain 3 the 3 precise 3 position 3 of 3 axis 3 a 3- 3 a 3 and 3 hinge 3 116 3 in 3 space 3. 3

3 as 3 shown 3 in 3 fig. 3 5A 3, 3 one 3 or 3 more 3 movable 3 aspects 3 of 3 the 3 arm 3 of 3 the 3 patient 3 side 3 cart 3 22 3 may 3 be 3 manipulated 3 to 3 maintain 3 the 3 precise 3 position 3 of 3 the 3 upper 3 jaw 3 portion 3 112 3 and 3 axis 3 a 3- 3 a 3 in 3 the 3 surrounding 3 space 3. 3 In some cases, this may require coordinate movement of up to 7 axes of movement of the arm holding the tool assembly 104. Examples of such arms and axes of motion are disclosed in U.S. patent No. 7,594,912 and U.S. publication No. 20130325032, which are incorporated herein by reference. Due to the above-described special separation of the wrist 70 and hinge 116, the wrist 70 as shown in fig. 11 can be moved downward via several movable aspects of controlling the patient side cart 22 and manipulating the arm of the holding tool assembly 104 to precisely maintain the position of the upper jaw portion 112.

The second mode of operation shown in figure 11 differs from the first mode of operation shown in figure 10 in that articulation of the upper jaw portion 112 relative to the lower jaw portion 114 is accompanied by simultaneous articulation of the wrist 70 such that the upper jaw portion 112 remains substantially stationary in space. In contrast, in the first mode of operation shown in FIG. 10, articulation of the upper jaw portion 112 relative to the lower jaw portion 114 occurs independently of articulation of the wrist 70, such that the upper jaw portion 112 changes spatial position. The second mode of operation may be employed to control the operation of any suitable surgical tool. Further, any suitable aspect of the tool may be selected to remain stationary during actuation of the upper jaw portion 112 relative to the lower jaw portion 114.

The second mode of operation may occur in a number of different ways, for example, the second mode of operation may be an option provided at the console 16. In other embodiments, the second mode of operation is made default according to a specified program, a physical selector switch located on the end effector 110, or an electronic identifier located on the stapler cartridge (or other tool insert) that is fed into the end effector 110 (the cartridge may be color-coded, e.g., color-based, for identification to the user). In other embodiments, the second mode of operation occurs when wrist 70 is articulated to a particular position or angle. In other embodiments, the angular limit of the second mode of operation may be adjustable by a user. Additionally, although the upper jaw portion 112 is used in these examples as a reference aspect of the stationary end effector, any suitable aspect of the tool assembly 104 may alternatively be used. For example, a reference axis may be selected and held stationary, such as an axis between the opening angles between the upper jaw portion 112 and the lower jaw portion 114. The virtual reference axis may be represented by a suitable display element on the console 16. As another example, any suitable portion of the tool may be selected and held stationary. The user may optionally select such reference axis or object to remain stationary during articulation of the tool assembly 104 prior to or during operation of the tool assembly 104. Suitable selectable reference aspects of the end effector may be visually provided on the console 16 as a list of real-time selectable options.

Figure 12 shows an example of the lower jaw portion 114 at a mechanical limit with respect to the wrist 70. Here, the angle α between axis B-B and axis C-C is at a maximum due to the mechanical constraints of wrist 70 and lower jaw 114. This position does not interfere with the first mode of operation shown in fig. 10 because the upper jaw portion 112 is free to pivot at the hinge 116. This position also does not preclude the second mode of operation shown in figure 11 because the required relative movement of the lower jaw portion 114 is not impeded by the wrist 70, as the angle α need not be increased, but only decreased (which is not limited herein).

Figure 13 shows another example of the lower jaw portion 114 at a mechanical limit with respect to the wrist 70. Here, due to the mechanical constraint of wrist 70 and lower jaw 114, the angle α between axes B-B and C-C¹At a maximum value. This position does not interfere with the first mode of operation shown in fig. 10 because the upper jaw portion 112 is free to pivot at the hinge 116. However, this position does prevent the second mode of operation shown in figure 11 because the required relative movement of the lower jaw portion 114 is prevented by the wrist 70 because of the angle α¹Cannot be further increased.

In such a case where the second mode of operation is desired, a variety of alternative modes may occur. In some embodiments, in the second mode of operation, the pitch and yaw of the lower jaw portion 114 is electronically limited to (a)¹-x) such thatAngle alpha, if desired¹May be increased to an amount of x, where x is the minimum angle that provides the second mode of operation. In other embodiments, the pitch and yaw of the lower jaw portion 114 are not limited, and the console 16 is configured to provide an indication that the second mode of operation is not available to the surgeon. In other embodiments, however, the pitch and yaw of the lower jaw portion 114 are not limited, and in such cases the movement of the end effector 110 automatically switches to the first mode of operation. In some embodiments, the angle α¹May not be in a hard stop (hard stop) nor in a position to provide full operation of the second mode of operation. In this case, the second operation mode may be set to the angle α¹The maximum amount provided, then the first mode of operation may occur to complete the closing of the jaw portions. Thus, some portion of the movement may be performed by the upper jaw portion 112 and some portion of the movement may be performed by the lower jaw portion 114. In some embodiments, switching to the first mode of operation may be performed automatically if only a small portion of the movement may be accomplished by the second mode of operation.

Fig. 14 illustrates a method 120 for operating a tool, such as tool assembly 104, having an end effector, such as end effector 110. The method 120 may be implemented using any suitable surgical system, such as the surgical systems described herein. In many embodiments, method 120 is performed using at least one processor, such as a processor of control system 111.

Method 120 includes receiving, by the controller, a command to close or open the end effector (act 122). Any suitable end effector may be used. For example, the end effector may include a first jaw member connected to a second jaw member by a hinge. The end effector may be coupled to the instrument shaft by a wrist that is reconfigurable to articulate the end effector relative to the instrument shaft to reorient and/or reposition the end effector relative to the patient. In some embodiments, the instrument shaft may also be articulated to reorient and/or reposition the end effector in space.

Method 120 may include receiving, by the controller, an input specifying a reference aspect of the end effector (act 124). Any suitable reference aspect of the end effector, including any suitable physical or virtual aspect (such as the reference aspects described herein), can be specified by the user and corresponding input provided to the controller. Alternatively, a default reference aspect of the end effector may be used. The reference aspect of the end effector may also be selected by the controller based on any suitable known state information, such as the current orientation and/or position of the end effector. For example, the current orientation and/or position of the end effector in space may be used to select a reference aspect of adjacent tissue located proximate to the patient to inhibit undesired contact between the end effector and the adjacent tissue of the patient during closing or opening of the end effector.

The method 120 further includes controlling, by the controller in response to the command, articulation of the end effector to simultaneously (a) move the first jaw member relative to the second jaw member, and (b) actuate the wrist to orient the end effector relative to the instrument axis such that a position and/or orientation of the reference aspect of the end effector in space is substantially maintained (act 126). Simultaneous articulation of any suitable end effector may be used. For example, the wrist may be reconfigured to articulate the end effector relative to the instrument shaft such that a reference aspect of the end effector remains substantially stationary when the first jaw member is reoriented relative to the second jaw member. Additionally, the instrument shaft may be articulated alone or in combination with articulation of the wrist to orient the end effector in space such that a reference aspect of the end effector remains substantially stationary as the first jaw member moves relative to the second jaw member.

Method 120 may include determining, by the controller, whether movement of the end effector that holds the reference aspect of the end effector stationary during closing or opening of the end effector exceeds a movement limit (act 128). For example, a reconfiguration of a wrist and/or instrument shaft that may be used to generate a movement of the end effector that holds a reference aspect of the end effector stationary during closing or opening of the end effector may be compared to a remaining available reconfiguration of the wrist and/or instrument shaft. If the controller determines that the available reconfiguration from the current configuration of the wrist and/or instrument shaft is sufficient to hold the reference aspect of the end effector stationary throughout the closing or opening of the end effector, the controller may continue with controlling the articulation of the end effector to hold the reference aspect of the end effector stationary throughout the closing or opening of the end effector. If the controller determines that the available reconfiguration from the current configuration of the wrist and/or instrument shaft is insufficient to hold the reference aspect of the end effector stationary throughout the closing or opening of the end effector, the controller may continue with controlling articulation of the end effector to hold the reference aspect of the end effector stationary throughout the corresponding portion of the end effector during closing or opening.

In addition, the controller may be configured to be capable of closing or opening the end effector without simultaneously articulating the end effector to hold the reference aspect of the end effector stationary throughout the closing or opening of the end effector. For example, the method 120 may include receiving, by the controller, a second command to close or open the end effector. In response to receiving the second command, the controller may control articulation of the end effector to reorient the first jaw member relative to the second jaw member without simultaneously articulating the end effector (e.g., via articulation of the wrist and/or instrument shaft), thereby substantially maintaining the position and/or orientation of the reference aspect of the end effector in space (act 130).

Other variations are within the spirit of the invention. The various aspects, embodiments, implementations or features of the described embodiments may be used alone or in any combination. Various aspects of the described embodiments associated with operation of surgical tools may be implemented in software, hardware, or a combination of hardware and software. Accordingly, while the invention is susceptible to various modifications and alternative constructions, certain illustrated embodiments thereof are shown in the drawings and have been described above in detail. It should be understood, however, that there is no intention to limit the invention to the specific form or forms disclosed, but on the contrary, the intention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the invention as defined by the appended claims.

The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The terms "comprising," "having," "including," and "containing" are to be construed as open-ended terms (i.e., meaning "including, but not limited to,") unless otherwise noted. The term "connected" should be interpreted as being partially or completely contained, attached, or combined together, even if something intervenes between them. Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g., "such as") provided herein, is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the invention.

Preferred embodiments of this invention are described herein, including the best mode known to the inventors for carrying out the invention. Variations of those preferred embodiments may become apparent to those of ordinary skill in the art upon reading the foregoing description. The inventors expect skilled artisans to employ such variations as appropriate, and the inventors intend for the invention to be practiced otherwise than as specifically described herein. Accordingly, this invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the invention unless otherwise indicated herein or otherwise clearly contradicted by context.

Claims

1. A robotic surgical system, comprising:

a robotic arm including an end effector, a wrist, and an instrument shaft having a distal end coupled to the wrist; the end effector comprises a first jaw member, a second jaw member, and a hinge, the first jaw member pivotally coupled to the second jaw member by the hinge; the end effector is coupled to the wrist; the wrist is reconfigurable to reorient the end effector relative to the instrument shaft; and

a controller for operating the robotic arm, the controller comprising at least one processor and a memory device storing instructions executable by the at least one processor to cause the at least one processor to:

receiving a command to effect reorientation of the first jaw member relative to the second jaw member; and

in response to receipt of the command to effect the reorientation of the first jaw member relative to the second jaw member, controlling movement of the end effector to simultaneously effect the reorientation of the first jaw member relative to the second jaw member by:

moving the first jaw member relative to the second jaw member, and

reconfiguring the wrist to reorient the end effector relative to the instrument shaft such that the second jaw member moves in space.

2. The system of claim 1, wherein the first jaw member remains stationary during the reorientation of the first jaw member relative to the second jaw member.

3. The system of claim 1, wherein the second jaw member moves toward the first jaw member during the reorientation of the first jaw member relative to the second jaw member.

4. The system of claim 1, wherein the first jaw member closes against the second jaw member during the reorientation of the first jaw member relative to the second jaw member.

5. The system of claim 1, wherein:

the first jaw member is configured to pivot at the hinge to close against the second jaw member; and

the second jaw member is not configured to pivot at the hinge.

6. The system of claim 1, wherein the reorientation of the first jaw member relative to the second jaw member comprises articulating the instrument shaft to move the hinge.

7. The system of claim 1, wherein the controller is configured to determine whether a reconfiguration of the wrist to reorient the end effector relative to the instrument shaft to complete the reorientation of the first jaw member relative to the second jaw member is subject to mechanical limitations of the wrist.

8. The system of claim 7, wherein the controller performs movement of the end effector based on whether the reconfiguration of the wrist to complete the reorientation of the first jaw member relative to the second jaw member is subject to mechanical limitations of the wrist.

9. The system of claim 1, wherein the memory device stores instructions executable by the at least one processor to cause the at least one processor to:

receiving a second command to close or open the end effector; and

in response to receipt of the second command, controlling movement of the end effector to reorient the first jaw member relative to the second jaw member while holding the second jaw member stationary.

10. The system of claim 1, wherein:

the memory device stores instructions executable by the at least one processor to cause the at least one processor to receive input specifying a reference aspect of the end effector; and is

At least one of a position in space and an orientation in space of the reference aspect of the end effector is maintained during the reorientation of the first jaw member relative to the second jaw member.

11. The system of claim 1, wherein the wrist is reconfigurable to reorient the end effector relative to the instrument shaft about a yaw axis and a pitch axis perpendicular to the yaw axis.

12. The system of claim 1, wherein at least one of a position in space and a position in space of the reference aspect of the end effector is maintained during the reorientation of the first jaw member relative to the second jaw member.